TW201603892A - Dispensing device and dispensing method - Google Patents

Abstract

A dispensing device includes a driving assembly, a dispensing assembly, an adjusting assembly and a controller electrically connected to the driving assembly. The dispensing assembly includes a first dispensing needle and a second dispensing needle which can be mounted on the driving assembly alternatively. The adjusting assembly includes a mounting frame, and a lighting member, a mirror and a camera which are mounted on the mounting frame. The mirror includes a reflective surface. Either of the first dispensing needle and the second dispensing needle is close to the reflective surface. The lighting member and the camera locate on the same side of the reflective surface. The camera can shoot the real image and the virtual image of the first dispensing needle and the second dispensing needle successively. The camera can calculate the deviation between the first dispensing needle and the second dispensing needle according to the location information of the image of the real image and the virtual image of the first dispensing needle and the second dispensing needle. The camera can transfer the deviation to the controller to control the driving assembly to move the second dispensing needle. The present disclosure further provides a dispensing method.

Description

Dispensing device and dispensing method

The invention relates to a dispensing device, in particular to a dispensing device capable of correcting a dispensing needle and a dispensing method.

In the process of workpiece machining, it is usually necessary to dispense a specific location on the workpiece for subsequent operations. However, when the dispensing needle is replaced for dispensing, the position of the dispensing needle after the replacement may be different from the position of the previously used dispensing needle, resulting in a deviation of the position of the dispensing of the workpiece. Therefore, the dispensing needle is replaced. Before dispensing, you need to correct the replacement dispensing needle to the position of the dispensing needle that previously dispensed the workpiece, and then use the dispensing needle to correct the position. At present, it is generally preferred to align the dispensing needle with the dispensing needle to align the dispensing needle. However, when the above dispensing device corrects the replaced dispensing needle, only the deviation of the dispensing needle in the horizontal direction can be corrected, and the replacement dispensing needle can not be corrected in the vertical direction. . Also, it is easy to damage the needle by aligning the dispensing needle with the sleeve.

In view of the above situation, it is necessary to provide a dispensing device and a dispensing method that can automatically correct both the horizontal direction and the vertical direction and are less likely to cause damage to the dispensing needle.

A dispensing device includes a driving assembly and a dispensing assembly, the dispensing assembly including a first dispensing needle and a second dispensing needle that are selectively mounted on the driving assembly, the dispensing device further including a correction assembly And a controller electrically connected to the driving component for controlling the driving component to drive the second dispensing needle movement, the calibration component comprising a fixing frame, and an illuminant and a mirror fixed on the fixing frame And a camera, the mirror includes a reflective surface, the first dispensing needle or the second dispensing needle is disposed adjacent to the reflective surface, and parallel to the reflective surface, the illuminator and the camera are located on a plane of the reflective surface On the side, the camera sequentially captures the real image of the first dispensing needle and the second dispensing needle and the virtual image reflected by the reflective surface, and stores the position information of the captured image, and the camera obtains the image according to the shooting. Calculating the position deviation value of the second dispensing needle from the first dispensing needle by the position information of the real needle image of the one-point plastic needle and the second dispensing needle and the image of the virtual image, and the position is The deviation value is transmitted to the controller, and the controller controls the driving component to drive the second dispensing needle to compensate the deviation value according to the deviation value, so that the second dispensing needle moves to the first dispensing needle head position.

A dispensing method comprising the following steps:

Fixing the illuminant, the mirror and the camera on the fixing frame, and the illuminant and the camera are located on the same side of the plane of the reflecting surface of the mirror;

The first dispensing needle is mounted on the driving component, and the first dispensing needle is adjacent to the reflective surface and parallel to the reflective surface;

The camera captures the real image and the virtual image of the first dispensing needle and stores the position information of the captured image in the camera as a reference;

Disposing the first dispensing needle;

Replacing the first dispensing needle as a second dispensing needle;

The camera captures the real image and the virtual image of the second dispensing needle and stores the position information of the captured image in the camera;

The camera calculates that the second dispensing needle deviates from the position deviation value of the first dispensing needle as a reference and transmits the position deviation value to the controller;

The controller controls the driving component to drive the second dispensing needle to move the second dispensing needle to the position of the first dispensing needle according to the position deviation value;

The second dispensing needle is dispensed.

The dispensing device of the present invention uses the light emitted by the illuminator to illuminate the first dispensing needle or the second dispensing needle for reflection, and the light is incident on the camera so that the camera can take the first dispensing needle or the second dispensing needle. Real image, at the same time, the reflective surface of the mirror can reflect the light that is irradiated to the dispensing needle and then propagate to the reflective surface, and the part of the light is reflected and then injected into the camera so that the camera can take the first dispensing needle or the second dispensing The virtual image of the needle. The camera can store the position information of the real image of the first dispensing needle and the second dispensing needle and the image obtained by the virtual image in the camera. The camera calculates the position deviation value of the first dispensing needle head of the second dispensing needle from the reference point in the horizontal direction and the vertical direction according to the position information of the two sets of images obtained by the shooting, and transmits the position deviation value to the controller. The controller controls the driving component to drive the second dispensing needle to move the second dispensing needle to the reference point according to the position deviation value of the second dispensing needle from the reference point in the horizontal direction and the vertical direction to realize the second point The glue needle can be calibrated in both the horizontal and vertical directions.

FIG. 1 is a schematic view showing the overall assembly of the dispensing device of the present embodiment.

2 is a schematic view of the optical path of the first dispensing needle of the dispensing device of FIG.

3 is a schematic view showing a real image and a virtual image formed by the first dispensing needle of the dispensing device shown in FIG. 1.

4 is a schematic view showing the comparison of the optical paths of the first dispensing needle and the second dispensing needle of the dispensing device of FIG.

FIG. 5 is a schematic view showing the comparison between the real image and the virtual image formed by the first dispensing needle head and the second dispensing needle head of the dispensing device shown in FIG. 1. FIG.

Referring to FIG. 1 , the dispensing device 100 includes a drive assembly 10 , a dispensing assembly 20 , a calibration assembly 30 , and a controller 50 . The dispensing assembly 20 is mounted on a drive assembly 10 that is capable of driving the dispensing assembly 20 to move. The calibration assembly 30 is disposed on the table and disposed adjacent to the dispensing assembly 20 for obtaining a deviation value of the dispensing assembly 20 from the reference point. The controller 50 is electrically connected to the calibration component 30 and the drive component 10. The controller 50 controls the driving assembly 10 to move the dispensing assembly 20 to the reference point according to the deviation value of the correction component 30 feedback, thereby realizing the correction of the dispensing assembly 20.

The drive assembly 10 includes a first drive member 11, a second drive member 13, and a third drive member 15. The first driving member 11 is disposed in the first direction. The second driving member 13 is slidably mounted on the first driving member 11 with respect to the first driving member 11, and the second driving member 13 is disposed in a second direction perpendicular to the first direction. The third driving member 15 is slidably mounted on the second driving member 13 with respect to the second driving member 13. The third driving member 15 is disposed in the third direction, and the third direction is perpendicular to the first direction and the second direction. In the embodiment, the first driving member 11, the second driving member 13, and the third driving member 15 are all driven by a servo motor, and the first driving member 11, the second driving member 13, and the third driving member 15 are arbitrary. Both are perpendicular to each other. The second direction, the first direction, and the third direction are respectively an X axis, a Y axis, and a Z axis in a three-dimensional coordinate system. The first driving member 11 is capable of driving the second driving member 13 and the third driving member 15 to move in the Y-axis direction. The second driving member 13 is capable of driving the third driving member 15 to move in the X-axis direction.

The dispensing assembly 20 includes a mounting member 21, a first dispensing tip 23, and a second dispensing tip 25 (see Figure 4). The mounting member 21 is fixed to the driving end of the third driving member 15, and the first dispensing needle 23 and the second dispensing needle 25 are respectively detachably fixed to the mounting member 21, so that the first dispensing needle 23 is completed. After the secondary dispensing, the second dispensing tip 25 can replace the first dispensing tip 23 to continue the dispensing operation. The first plastic needle head 23 or the second dispensing needle head 25 is mounted to the mounting member 21 and is parallel to the Z axis, respectively. The third driving member 15 is capable of driving the mounting member 21 to move in the Z-axis direction to drive the first dispensing needle head 23 or the second dispensing needle head 25 to move in the Z-axis direction. It can be understood that the number of dispensing needles is not limited to two in the embodiment, and the number may be three or more.

The correction assembly 30 is disposed adjacent to the first dispensing tip 23 or the second dispensing tip 25. The correction assembly 30 includes a holder 31, an illuminator 33, a mirror 34, and a camera 35. In the present embodiment, the camera 35 is a camera equipped with a CCD image sensor. The fixing frame 31 includes a first fixing member 311, a second fixing member 313, and a third fixing member 315. The first fixing member 311 is substantially L-shaped, and one end thereof is used for arranging the illuminant 33. The second fixing member 313 includes a fixing portion 3131 and a supporting portion 3132. The fixing portion 3131 has a rectangular plate shape, and the support portion 3132 has a boss shape. The support portion 3132 is fixed to one end of the fixing portion 3131 for supporting the camera 35. One end of the first fixing member 311 away from the illuminator 33 is vertically fixed to one end of the fixing portion 3131 away from the supporting portion 3132. The third fixing member 315 has an L shape. One end of the third fixing member 315 is fixed to one end of the fixing portion 3131 away from the supporting portion 3132, and the other end of the third fixing member 315 is parallel with the fixing portion 3131 for arranging the mirror 34. The illuminator 33 is fixed to one side of the first fixing member 311 near the fixing portion 3131. The mirror 34 is fixed to the third fixing member 315 and perpendicular to the fixing portion 3131. In the present embodiment, the mirror 34 has a straight triangular prism shape with a cross section of an isosceles right triangle. The mirror 34 includes a reflective surface 341 and an end surface 343. The reflective surface 341 is disposed toward the illuminator 33, and the reflective surface 341 is parallel to the Z-axis. The incident angle of the light emitted from the illuminator 33 to the reflecting surface 341 of the mirror 34 is 45 degrees. The end face 343 is an isosceles right triangle and is perpendicular to the reflective surface 341. The end surface 343 includes two mutually perpendicular sides 3431, 3433 and a bottom edge 3435. The extension line of the side edge 3431 is parallel to the Y axis, and the extension line of the side edge 3433 is parallel to the X axis. The bottom edge 3435 is the intersection of the end surface 343 and the reflective surface 341, and is at an angle of 45 degrees with respect to the X-axis and the Y-axis. The camera 35 is fixed to the support portion 3132 for taking a real image of the first dispensing needle 23 or the second dispensing needle 25 and reflecting the virtual image formed by the reflective surface 341. In this embodiment, the virtual image of the first dispensing needle 23 or the second dispensing needle 25 is symmetric with respect to the reflective surface 341 of the corresponding real object itself. The camera 35 and the illuminator 33 are located on the same side of the plane on which the reflecting surface 341 is located. The axis of the camera 35 is parallel to the Y axis. The camera 35 is capable of converting an optical signal into a digital signal to cause the camera 35 to capture an image, and the camera 35 is capable of storing the position information of the image, and the camera 35 is capable of sequentially capturing two different images and two different images. The position information is compared to obtain a deviation between the positions of the two different images, and the deviation value of the position is transmitted to the controller 50. The extension of the side 3431 is parallel to the axis of the camera 35, and the side 3433 is perpendicular to the axis of the camera 35. In the present embodiment, the light emitted from the illuminator 33 is parallel light.

The controller 50 is electrically connected to the camera 35, the first driving member 11, the second driving member 13, and the third driving member 15. The controller 50 is capable of acquiring a signal transmitted from the camera 35 and controlling the operation of the first driving member 11, the second driving member 13, and the third driving member 15 based on the signal. The controller 50 can control the first driving member 11 to drive the second driving member 13 and the third driving member 15 to move in the Y-axis direction. The controller 50 is also capable of controlling the second driving member 13 to drive the third driving member 15 to move in the X-axis direction. The controller 50 is also capable of controlling the third driving member 15 to drive the first dispensing needle 23 or the second dispensing needle 25 to move in the Z-axis direction.

When assembling, the first fixing member 311, the second fixing member 313 and the third fixing member 315 are sequentially fixed, and the first fixing member 311 is perpendicular to the fixing portion 3131 of the second fixing member 313 away from one end of the supporting portion 3132; The illuminator 33, the mirror 34 and the camera 35 are respectively fixed to the first fixing member 311, the third fixing member 315 and the second fixing member 313, so that the reflecting surface 341 of the mirror 34 is disposed toward the illuminator 33 and the camera 35. The incident angle of the light emitted from the illuminator 33 to the reflecting surface 341 is 45 degrees, and the extension of one side 3431 of the end surface 343 of the mirror 34 is parallel to the axis of the camera 35, and the other side 3433 and the camera 35 are The axis is perpendicular to each other; finally, the dispensing assembly 20 is fixed on the driving end of the third driving member 15, so that the first dispensing needle 23 or the second dispensing needle 25 is disposed adjacent to the reflective surface 341, and the first dispensing needle 23 Or the axis of the second dispensing tip 25 is parallel to the reflective surface 341.

Please refer to FIG. 2 to FIG. 5 together. In use, the above dispensing device 100 is placed on a workbench (not shown). The first dispensing needle 23 is detachably fixed to the mounting member 21, and the light emitted from the illuminating body 33 is irradiated onto the first dispensing needle 23, and the first dispensing needle 23 reflects the light to direct the light toward the camera 35 ( The light path diagram is shown in FIG. 2). At the same time, the light emitted by the illuminator 33 is transmitted to the first dispensing needle head 23 and then propagates to the reflecting surface 341 of the mirror 34. The reflecting surface 341 reflects the part of the light and then faces the camera 35. . The camera 35 converts the optical signal of the incident light into a digital signal to cause the camera 35 to capture the image of the real image of the first dispensing needle 23 (see the image on the left side in FIG. 3) and the virtual image of the first dispensing needle 23 The image (see the image on the right in Figure 3). The positional information of the real image and the virtual image of the first dispensing needle 23 on the X-axis and the Z-axis is stored in the camera 35 as a reference value. At this time, the position of the first dispensing needle 23 is the reference point.

Dispensing is performed using the first dispensing tip 23.

When the second dispensing needle 25 needs to be replaced, the replaced first dispensing needle 23 is removed, and the second dispensing needle 25 to be replaced is detachably fixed to the mounting member 21. The light emitted by the illuminator 33 is irradiated onto the second dispensing needle 25, and the second dispensing needle 25 reflects the light to direct the light toward the camera 35. At the same time, the illuminating body 33 emits the light to the second dispensing needle 25 to continue. The light is transmitted to the reflecting surface 341 of the mirror 34, and the reflecting surface 341 reflects the light of the portion and is incident on the camera 35. The camera 35 converts the optical signal of the incident light into a digital signal to cause the camera 35 to capture the image of the second dispensing needle 25 (see the image of the solid line on the left side in FIG. 5) and the second dispensing. The image of the virtual image of the needle 25 (see the image of the solid line on the right side in Figure 5). The positional information of the real image and the virtual image of the second dispensing needle 25 on the X-axis and the Z-axis is stored in the camera 35.

The camera 35 is based on the position information of the real image and the virtual image of the second dispensing needle 25 stored in the camera 35 on the X-axis and the Z-axis, and the image of the real image and the virtual image of the first dispensing needle 23 at the reference point. The positional information on the axis and the Z-axis is analyzed and calculated to obtain deviation values ΔX, ΔY, and ΔZ of the second dispensing needle 25 from the reference point in the X-axis, Y-axis, and Z-axis directions. The camera 35 transmits the deviation values ΔX, ΔY, and ΔZ to the controller 50.

The controller 50 controls the first driving member 11 in the driving assembly 10 to drive the second driving according to the deviation values ΔX, ΔY and ΔZ of the second dispensing needle head 25 from the reference point in the X-axis, Y-axis, and Z-axis directions. The member 13 moves in the Y-axis direction, and controls the second driving member 13 to drive the third driving member 15 to move in the X-axis direction, and controls the third driving member 15 to drive the second dispensing needle 25 to move in the Z-axis direction. The compensation of the deviation values ΔX, ΔY and ΔZ of the two-point glue needle 25 on the X-axis, the Y-axis and the Z-axis causes the second dispensing needle 25 to move to the reference point to realize the second dispensing needle head 25 Automatic correction.

Dispensing is performed using the second dispensing tip 25.

In the present embodiment, since the angle 341 between the reflecting surface 341 of the mirror 34 and the X-axis and the Y-axis direction is 45 degrees, and the incident angle of the light emitted from the illuminating body 33 to the reflecting surface 341 is 45 degrees, the second The deviation value ΔX of the dispensing needle 25 from the reference point in the X-axis direction is equal to the image obtained by the real image of the first dispensing needle 23 at the reference point of the camera 35 and the real image of the second dispensing needle 25 taken by the camera 35. Obtaining the deviation value on the X-axis; the value of the deviation value ΔY of the second dispensing needle head 25 from the reference point in the Y-axis direction is equal to the virtual image of the first dispensing needle head 23 at the photographing reference point of the camera 35. The image obtained by the virtual image of the second dispensing needle 25 with the camera 35 is offset on the X-axis; the deviation of the second dispensing needle 25 from the reference point in the Z-axis direction is equal to the value of the camera 35. The image obtained by the real image of the first dispensing needle 23 at the point and the real image of the second dispensing needle 25 of the camera 35 are obtained by the deviation of the image on the Z axis or the first dispensing needle at the reference point of the camera 35. 23 virtual image to get the image and camera 35 shooting The virtual image of the two-point glue needle 25 is obtained as a deviation value on the Z-axis.

After the dispensing device 100 of the present invention is irradiated onto the first dispensing needle head 23 or the second dispensing needle head 25 by the light emitted from the illuminating body 33, the light is incident on the camera 35, so that the camera 35 takes the first dispensing needle head 23 or The real image of the second dispensing needle 25, the reflecting surface 341 of the mirror 34 can reflect the light that is transmitted to the reflecting surface 341 after being irradiated to the dispensing needle, and the portion of the light is reflected and then incident on the camera 35 to cause the camera 35 to shoot. A virtual image of the glue needle 23 or the second dispensing needle 25. The camera can store position information of the image obtained by the real image and the virtual image of the first dispensing needle 23 and the second dispensing needle 25 in the camera 35 in sequence. The camera 35 calculates a position deviation value of the first dispensing needle head 25 of the second dispensing needle head 25 from the reference point of the X-axis, the Y-axis and the Z-axis according to the position information of the two sets of images obtained by the shooting, and the position deviation value is obtained. Transfer to controller 50. The controller 50 controls the driving assembly 10 to move the second dispensing needle 25 to move the second dispensing needle 25 to the reference according to the position deviation value of the second dispensing needle 25 from the reference point of the X-axis, the Y-axis and the Z-axis. The point can be corrected for the second dispensing needle 25 on the X-axis, the Y-axis, and the Z-axis.

It can be understood that the end surface 343 in the embodiment is not limited to the isosceles right triangle in the embodiment, and the end surface 343 can be any right triangle. In this case, the angle between the side 3431 and the bottom edge 3435 is stored in the camera 35. The deviation of the second dispensing needle 25 from the reference point in the Y-axis direction is equal to the image obtained by the virtual image of the first dispensing needle 23 at the camera reference point of the camera 35 and the virtual image of the second dispensing needle 25 by the camera 35. The deviation value on the X-axis is multiplied by the cotangent of the angle between the side edge 3431 and the bottom edge 3435.

It can be understood that the end surface 343 in the embodiment can be any shape. In this case, the angle between the reflective surface 341 and the Y-axis direction is stored in the camera 35, and the second dispensing needle 25 is offset from the reference point in the Y-axis direction. The deviation value is equal to the deviation of the image obtained by the virtual image of the first dispensing needle 23 at the reference point of the camera 35 and the image of the virtual image of the second dispensing needle 25 of the camera 35 multiplied by the reflective surface 341 and the Y axis. The remaining value of the angle.

It can be understood that the light emitted by the illuminator 33 in the present embodiment is not limited to the parallel light in the embodiment, and the light emitted by the illuminant 33 may not be parallel light, as long as the light emitted by the illuminator 33 can be irradiated to the first light. The dispensing needle 23 or the second dispensing needle 25 can be used to irradiate the first dispensing needle 23 or the second dispensing needle 25 to continue to propagate the light to the reflecting surface 341 at an incident angle of 45 degrees.

It can be understood that the mirror 34 in the embodiment is not limited to the shape in the embodiment, and the mirror 34 can be any other shape as long as the reflecting surface 341 of the mirror 34 is flat, and the reflecting surface 341 and the Y axis are The angle is stored in the camera 35. At this time, the deviation value of the second dispensing needle 25 from the reference point in the Y-axis direction is equal to the image obtained by the virtual image of the first dispensing needle 23 at the reference point of the camera 35. The camera 35 captures the virtual image of the second dispensing needle 25 to obtain a deviation of the image on the X-axis multiplied by the angle between the reflective surface 341 and the Y-axis.

It can be understood that the incident angle of the light emitted from the illuminant 33 in the present embodiment into the reflective surface 341 is not limited to 45 degrees in the embodiment, and may be other values as long as the illuminant 33 and the camera 35 are located on the reflective surface 341. The same side can be used. At this time, the deviation value of the second dispensing needle 25 from the reference point in the Y-axis direction and the image obtained by the camera 35 capturing the virtual image of the first dispensing needle 23 and the camera 35 taking the second dispensing needle The virtual image of 25 is obtained by the deviation value on the X-axis, the angle between the reflective surface 341 and the Y-axis, and the incident angle of the light emitted by the illuminator 33. Therefore, the angle between the reflective surface 341 and the Y-axis and the illuminant should be first The incident angle of the light emitted by 33 is stored in the camera 35.

It can be understood that the axis of the camera 35 in this embodiment is not limited to being parallel to the first driving member 11 in the embodiment, and may also be at a certain angle with the first driving member 11, and the controller 50 is according to the second. The dispensing needle 25 is offset from the deviation values ΔX, ΔY and ΔZ of the first dispensing needle 23, and is combined with the first driving member 11, the second driving member 13, and the third driving member 15 and the X-axis in the driving assembly 10. The positional relationship between the Y-axis and the Z-axis controls the first driving member 11, the second driving member 13, and the third driving member 15 to move the second dispensing needle 25 to realize automatic correction of the second dispensing needle 25.

In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. The above description is only the preferred embodiment of the present invention, and equivalent modifications or variations made by those skilled in the art will be included in the following claims.

100‧‧‧ Dispensing device

10‧‧‧Drive components

11‧‧‧First drive

13‧‧‧second drive

15‧‧‧ Third drive

20‧‧‧ Dispensing components

21‧‧‧Installation

23‧‧‧First dispensing needle

25‧‧‧Second dispensing needle

30‧‧‧Correction components

31‧‧‧ Fixing frame

311‧‧‧First fixture

313‧‧‧Second fixture

3131‧‧‧Fixed Department

3132‧‧‧Support

315‧‧‧ third fixture

33‧‧‧Lights

34‧‧‧Mirror

341‧‧‧ Reflective surface

343‧‧‧ end face

3431, 3343‧‧‧ side

3435‧‧‧Bottom

35‧‧‧Camera

50‧‧‧ Controller

no

100‧‧‧ Dispensing device

10‧‧‧Drive components

11‧‧‧First drive

13‧‧‧second drive

15‧‧‧ Third drive

20‧‧‧ Dispensing components

21‧‧‧Installation

23‧‧‧First dispensing needle

30‧‧‧Correction components

31‧‧‧ Fixing frame

311‧‧‧First fixture

313‧‧‧Second fixture

3131‧‧‧Fixed Department

3132‧‧‧Support

315‧‧‧ third fixture

33‧‧‧Lights

34‧‧‧Mirror

341‧‧‧ Reflective surface

343‧‧‧ end face

3431, 3343‧‧‧ side

3435‧‧‧Bottom

35‧‧‧Camera

50‧‧‧ Controller

Claims (10)

A dispensing device includes a driving assembly and a dispensing assembly, the dispensing assembly including a first dispensing needle and a second dispensing needle that are selectively mounted on the driving assembly, the improvement being: the dispensing device The device further includes a calibration component and a controller, the controller is electrically connected to the driving component, and is configured to control the driving component to drive the second dispensing needle movement, the calibration component comprises a fixing frame, and the illumination fixed on the fixing frame The mirror, the mirror and the camera, the mirror comprises a reflective surface, the first dispensing needle or the second dispensing needle is disposed adjacent to the reflective surface and parallel to the reflective surface, the illuminator and the camera are located on the reflective surface On the same side of the plane, the camera sequentially captures the real image of the first dispensing needle and the second dispensing needle and the virtual image reflected by the reflective surface, and stores the position information of the captured image. The camera is photographed according to the shooting. Obtaining the position information of the real image of the first dispensing needle and the second dispensing needle and the image of the virtual image to calculate the deviation of the position of the second dispensing needle from the first dispensing needle And transmitting the deviation value to the controller, the controller controls the driving component to drive the second dispensing needle to compensate the position deviation value according to the position deviation value, so that the second dispensing needle moves to the first The location of the glue needle. The dispensing device of claim 1, wherein the light emitted by the illuminator is incident on the reflecting surface at an angle of incidence of 45 degrees. The dispensing device of claim 2, wherein the mirror further comprises an end face, the end face being an isosceles right triangle, the end face comprising two mutually perpendicular sides and a bottom edge, the bottom edge being the reflective surface The intersection line with the end face, wherein the extension line of one side is parallel to the axis of the camera, and the extension line of the other side is perpendicular to the axis of the camera. The dispensing device of claim 1, wherein the driving assembly comprises a first driving member, a second driving member and a third driving member, the second driving member being slidably mounted on the first driving member The third driving member is slidably mounted on the second driving member, and the first driving member, the second driving member and the three driving members are both perpendicular to each other. A dispensing method comprising the following steps:
Fixing the illuminant, the mirror and the camera on the fixing frame, and the illuminant and the camera are located on the same side of the plane of the reflecting surface of the mirror;
The first dispensing needle is mounted on the driving component, and the first dispensing needle is adjacent to the reflective surface and parallel to the reflective surface;
The camera captures the real image and the virtual image of the first dispensing needle and stores the position information of the captured image in the camera as a reference;
Disposing the first dispensing needle;
Replacing the first dispensing needle as a second dispensing needle;
The camera captures the real image and the virtual image of the second dispensing needle and stores the position information of the captured image in the camera;
The camera calculates that the second dispensing needle deviates from the position deviation value of the first dispensing needle as a reference and transmits the position deviation value to the controller;
The controller controls the driving component to drive the second dispensing needle to move the second dispensing needle to the position of the first dispensing needle according to the position deviation value;
The second dispensing needle is dispensed. The method of dispensing according to claim 5, further comprising: the axis of the camera is disposed along a first direction, and a vertical line of the axis of the camera is disposed along a second direction perpendicular to the first direction, the reflective surface is along The third direction is perpendicular to the first direction and the second direction, and the deviation of the second dispensing needle from the first dispensing needle in the second direction is equal to the first dispensing of the camera. The image obtained by the real image of the needle and the real image of the second dispensing needle of the camera are obtained in the second direction, and the second dispensing needle is offset from the first dispensing needle by the third dispensing needle. The deviation value is equal to the deviation between the image obtained by the camera capturing the real image of the first dispensing needle and the image obtained by the camera capturing the second dispensing needle in the third direction. The dispensing method of claim 6, wherein the light emitted by the reflector is incident on the light emitting surface at an incident angle of 45 degrees. The dispensing method of claim 7, wherein the reflecting surface of the mirror is at an angle of 45 degrees with the first direction and the second direction, and the second dispensing needle is in the first direction. The deviation from the first dispensing needle is equal to the deviation between the image obtained by the camera capturing the virtual image of the first dispensing needle and the image obtained by the camera capturing the second dispensing needle in the second direction. The method of dispensing according to claim 7, further comprising: storing the angle between the reflective surface and the first direction in the camera, the second dispensing needle deviating from the first direction in the first direction The offset value of the dispensing needle is equal to the deviation between the image obtained by the camera capturing the virtual image of the first dispensing needle and the image obtained by the camera capturing the second dispensing needle in the second direction multiplied by the reflective surface The residual value of the angle with the first direction. The dispensing method of claim 8 or 9, wherein the driving assembly comprises a first driving member, a second driving member and a third driving member, the first driving member being disposed parallel to the first direction, The second driving member is slidably mounted on the first driving member, and the second driving member is disposed parallel to the second driving member, the third driving member is slidably mounted on the second driving member, and The third driving member is disposed in parallel with the manufacturer, and the controller controls the first driving member, the second driving member and the three driving members to drive the second dispensing needle in the second direction, the first direction, and the The offset value of the manufacturer in the corresponding direction of the movement.